package edu.wpi.first.wpilibj.positioning;

import edu.wpi.first.wpilibj.Joystick;

/**
 * A {@link Pathfinder} that can accept input from joysticks to choose a path.
 * @author Dylan Frese
 */
public interface ManualPathfinder extends Pathfinder{
    
    /**
     * Get the path for the robot given the position and time, and the two
     * joysticks as inputs
     * @param where Where the robot is, stored as a {@link PositionHandler}
     * @param time The current time, in milliseconds.
     * @param leftTank One of the joysticks that the pathfinder will use as an
     * input.
     * @param rightTank One of the joysticks that the pathfinder will use as an
     * input.
     * @return the path that the robot should follow.
     */
    public Path getPath (PositionHandler where, long time, Joystick leftTank, Joystick rightTank);
    
}
